ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes
Operation & Software Manual
Direct Drives & Systems 251
15.20 STA example
The axis 0 is in µ-master mode (K170=1 or MDE=1).
M0, M1, M10 and M11 must be monitored to see what happens in this example:
:10.2 ;Label 10
MMD.2=17 ;Sets the rotary S-curve movement
PWR.2=1 ;Power on
WTM.2 ;Waits until the movement is finished
IND.2 ;Starts the homing
WTM.2 ;Waits until the movement is finished
POS.2=0.00000 ;Goes to the position 0 (ISO unit)
WTM.2 ;Waits until the movement is finished
POS:1.2=100.000 ;Goes to the position 100 (ISO unit)
SPD:1.2=10.0000 ;Sets the maximum speed to 10 (ISO unit)
ACC:1.2=100.000 ;Sets the maximum acceleration to 100 (ISO unit)
POS:2.2=10.000 ;Goes to the position 10 (ISO unit)
SPD:2.2=360.0000 ;Sets the maximum speed to 360 (ISO unit)
ACC:2.2=500.000 ;Sets the maximum acceleration to 500 (ISO unit)
:30.2 ;Label 30
STA.2=1,0x7 ;Starts the movement specified at the depth 1 by using the parameter specified by
the mask 0x7: bit0 (goes to the position 100), bit1 (with a speed of 10) and bit2 (with
an acceleration of 100)
WTM.2 ;Waits until the movement is finished
WTT.2=1.00000 ;Waits for 1 (ISO unit)
STA.2=2,0x7 ;Starts the movement specified at the depth 2 by using the parameter specified by
the mask 0x7: bit0 (goes to the position 10), bit1 (with a speed of 360) and bit2 (with
an acceleration of 500)
WTM.2 ;Waits until the movement is finished
WTT.2=1.00000 ;Waits for 1 (ISO unit)
JMP.2=30 ;Jumps to label 30
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